how to display or get depth image in the realsense t265

[minghuizhou123]

I moditied rs_rgbd.launch file

<!-- Launch the camera device nodelet-->
<include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
  <arg name="external_manager"         value="$(arg external_manager)"/>
  <arg name="manager"                  value="$(arg manager)"/>
  <arg name="tf_prefix"                value="$(arg tf_prefix)"/>
  <arg name="serial_no"                value="$(arg serial_no)"/>
  <arg name="json_file_path"           value="$(arg json_file_path)"/>

  <arg name="enable_pointcloud"        value="$(arg enable_pointcloud)"/>
  <arg name="enable_sync"              value="$(arg enable_sync)"/>
  <arg name="align_depth"              value="$(arg align_depth)"/>

  <arg name="fisheye_width"            value="$(arg fisheye_width)"/>
  <arg name="fisheye_height"           value="$(arg fisheye_height)"/>
  <arg name="enable_fisheye"           value="$(arg enable_fisheye)"/>

  <arg name="depth_width"              value="$(arg depth_width)"/>
  <arg name="depth_height"             value="$(arg depth_height)"/>
  <arg name="enable_depth"             value="$(arg enable_depth)"/>

  <arg name="color_width"              value="$(arg color_width)"/>
  <arg name="color_height"             value="$(arg color_height)"/>
  <arg name="enable_color"             value="$(arg enable_color)"/>

  <arg name="infra_width"              value="$(arg infra_width)"/>
  <arg name="infra_height"             value="$(arg infra_height)"/>
  <arg name="enable_infra1"            value="$(arg enable_infra1)"/>
  <arg name="enable_infra2"            value="$(arg enable_infra2)"/>

  <arg name="fisheye_fps"              value="$(arg fisheye_fps)"/>
  <arg name="depth_fps"                value="$(arg depth_fps)"/>
  <arg name="infra_fps"                value="$(arg infra_fps)"/>
  <arg name="color_fps"                value="$(arg color_fps)"/>
  <arg name="gyro_fps"                 value="$(arg gyro_fps)"/>
  <arg name="accel_fps"                value="$(arg accel_fps)"/>
  <arg name="enable_gyro"              value="$(arg enable_gyro)"/>
  <arg name="enable_accel"             value="$(arg enable_accel)"/>
  <arg name="filters"                  value="$(arg filters)"/>
</include>

<!-- RGB processing -->
<include if="$(arg rgb_processing)"
         file="$(find rgbd_launch)/launch/includes/rgb.launch.xml">
  <arg name="manager"                       value="$(arg manager)" />
  <arg name="respawn"                       value="$(arg respawn)" />
  <arg name="rgb"                           value="$(arg rgb)" />
  <arg name="debayer_processing"            value="$(arg debayer_processing)" />
</include>

<group if="$(eval depth_registered_processing and sw_registered_processing)">
  <node pkg="nodelet" type="nodelet" name="register_depth"
        args="load depth_image_proc/register $(arg manager) $(arg bond)" respawn="$(arg respawn)">
    <remap from="rgb/camera_info"             to="$(arg rgb)/camera_info" />
    <remap from="depth/camera_info"           to="$(arg depth)/camera_info" />
    <remap from="depth/image_rect"            to="$(arg depth)/image_rect_raw" />
    <remap from="depth_registered/image_rect" to="$(arg depth_registered)/sw_registered/image_rect_raw" />
  </node>

  <!-- Publish registered XYZRGB point cloud with software registered input -->
  <node pkg="nodelet" type="nodelet" name="points_xyzrgb_sw_registered"
        args="load depth_image_proc/point_cloud_xyzrgb $(arg manager) $(arg bond)" respawn="$(arg respawn)">
    <remap from="rgb/image_rect_color"        to="$(arg rgb)/image_rect_color" />
    <remap from="rgb/camera_info"             to="$(arg rgb)/camera_info" />
    <remap from="depth_registered/image_rect" to="$(arg depth_registered_filtered)/sw_registered/image_rect_raw" />
    <remap from="depth_registered/points"     to="$(arg depth_registered)/points" />
  </node>
</group>

<group if="$(eval depth_registered_processing and hw_registered_processing)">
  <!-- Publish registered XYZRGB point cloud with hardware registered input (ROS Realsense depth alignment) -->
  <node pkg="nodelet" type="nodelet" name="points_xyzrgb_hw_registered"
        args="load depth_image_proc/point_cloud_xyzrgb $(arg manager) $(arg bond)" respawn="$(arg respawn)">
    <remap from="rgb/image_rect_color"        to="$(arg rgb)/image_rect_color" />
    <remap from="rgb/camera_info"             to="$(arg rgb)/camera_info" />
    <remap from="depth_registered/image_rect" to="$(arg depth_registered)/image_raw" />
    <remap from="depth_registered/points"     to="$(arg depth_registered_pub)/points" />
  </node>
</group>

[minghuizhou123]

<!-- Launch the camera device nodelet-->
<include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
  <arg name="external_manager"         value="$(arg external_manager)"/>
  <arg name="manager"                  value="$(arg manager)"/>
  <arg name="tf_prefix"                value="$(arg tf_prefix)"/>
  <arg name="serial_no"                value="$(arg serial_no)"/>
  <arg name="json_file_path"           value="$(arg json_file_path)"/>

  <arg name="enable_pointcloud"        value="$(arg enable_pointcloud)"/>
  <arg name="enable_sync"              value="$(arg enable_sync)"/>
  <arg name="align_depth"              value="$(arg align_depth)"/>

  <arg name="fisheye_width"            value="$(arg fisheye_width)"/>
  <arg name="fisheye_height"           value="$(arg fisheye_height)"/>
  <arg name="enable_fisheye"           value="$(arg enable_fisheye)"/>

  <arg name="depth_width"              value="$(arg depth_width)"/>
  <arg name="depth_height"             value="$(arg depth_height)"/>
  <arg name="enable_depth"             value="$(arg enable_depth)"/>

  <arg name="color_width"              value="$(arg color_width)"/>
  <arg name="color_height"             value="$(arg color_height)"/>
  <arg name="enable_color"             value="$(arg enable_color)"/>

  <arg name="infra_width"              value="$(arg infra_width)"/>
  <arg name="infra_height"             value="$(arg infra_height)"/>
  <arg name="enable_infra1"            value="$(arg enable_infra1)"/>
  <arg name="enable_infra2"            value="$(arg enable_infra2)"/>

  <arg name="fisheye_fps"              value="$(arg fisheye_fps)"/>
  <arg name="depth_fps"                value="$(arg depth_fps)"/>
  <arg name="infra_fps"                value="$(arg infra_fps)"/>
  <arg name="color_fps"                value="$(arg color_fps)"/>
  <arg name="gyro_fps"                 value="$(arg gyro_fps)"/>
  <arg name="accel_fps"                value="$(arg accel_fps)"/>
  <arg name="enable_gyro"              value="$(arg enable_gyro)"/>
  <arg name="enable_accel"             value="$(arg enable_accel)"/>
  <arg name="filters"                  value="$(arg filters)"/>
</include>

<!-- RGB processing -->
<include if="$(arg rgb_processing)"
         file="$(find rgbd_launch)/launch/includes/rgb.launch.xml">
  <arg name="manager"                       value="$(arg manager)" />
  <arg name="respawn"                       value="$(arg respawn)" />
  <arg name="rgb"                           value="$(arg rgb)" />
  <arg name="debayer_processing"            value="$(arg debayer_processing)" />
</include>

<group if="$(eval depth_registered_processing and sw_registered_processing)">
  <node pkg="nodelet" type="nodelet" name="register_depth"
        args="load depth_image_proc/register $(arg manager) $(arg bond)" respawn="$(arg respawn)">
    <remap from="rgb/camera_info"             to="$(arg rgb)/camera_info" />
    <remap from="depth/camera_info"           to="$(arg depth)/camera_info" />
    <remap from="depth/image_rect"            to="$(arg depth)/image_rect_raw" />
    <remap from="depth_registered/image_rect" to="$(arg depth_registered)/sw_registered/image_rect_raw" />
  </node>

  <!-- Publish registered XYZRGB point cloud with software registered input -->
  <node pkg="nodelet" type="nodelet" name="points_xyzrgb_sw_registered"
        args="load depth_image_proc/point_cloud_xyzrgb $(arg manager) $(arg bond)" respawn="$(arg respawn)">
    <remap from="rgb/image_rect_color"        to="$(arg rgb)/image_rect_color" />
    <remap from="rgb/camera_info"             to="$(arg rgb)/camera_info" />
    <remap from="depth_registered/image_rect" to="$(arg depth_registered_filtered)/sw_registered/image_rect_raw" />
    <remap from="depth_registered/points"     to="$(arg depth_registered)/points" />
  </node>
</group>

<group if="$(eval depth_registered_processing and hw_registered_processing)">
  <!-- Publish registered XYZRGB point cloud with hardware registered input (ROS Realsense depth alignment) -->
  <node pkg="nodelet" type="nodelet" name="points_xyzrgb_hw_registered"
        args="load depth_image_proc/point_cloud_xyzrgb $(arg manager) $(arg bond)" respawn="$(arg respawn)">
    <remap from="rgb/image_rect_color"        to="$(arg rgb)/image_rect_color" />
    <remap from="rgb/camera_info"             to="$(arg rgb)/camera_info" />
    <remap from="depth_registered/image_rect" to="$(arg depth_registered)/image_raw" />
    <remap from="depth_registered/points"     to="$(arg depth_registered_pub)/points" />
  </node>
</group>

[MartyG-RealSense]

It looks as though you are trying to write your own ROS script to get depth from the fisheye cameras like the t265_stereo.py script does. Is that correct, please?

#3951

There is advice in the link below on the difficulties of computing depth on the T265 due to its lack of built-in depth sensing.

#3964 (comment)

[dorodnic]

rs_rgbd.launch does not work with the T265, since T265 is not an RGB-D camera.
t265_stereo.py is a nice example to review, but we are not planning to expand on this use-case.